WO2002028003A2 - Procede pour synchroniser plusieurs systemes de bus et systeme de bus hierarchique correspondant - Google Patents

Procede pour synchroniser plusieurs systemes de bus et systeme de bus hierarchique correspondant Download PDF

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Publication number
WO2002028003A2
WO2002028003A2 PCT/DE2001/003578 DE0103578W WO0228003A2 WO 2002028003 A2 WO2002028003 A2 WO 2002028003A2 DE 0103578 W DE0103578 W DE 0103578W WO 0228003 A2 WO0228003 A2 WO 0228003A2
Authority
WO
WIPO (PCT)
Prior art keywords
clock
bus
phase
bus systems
synchronization
Prior art date
Application number
PCT/DE2001/003578
Other languages
German (de)
English (en)
Other versions
WO2002028003A3 (fr
Inventor
Martin Kiesel
Guido Seeger
Dietmar Wanner
Michael Zeitler
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to DE50109395T priority Critical patent/DE50109395D1/de
Priority to EP01978146A priority patent/EP1346505B1/fr
Publication of WO2002028003A2 publication Critical patent/WO2002028003A2/fr
Publication of WO2002028003A3 publication Critical patent/WO2002028003A3/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0652—Synchronisation among time division multiple access [TDMA] nodes, e.g. time triggered protocol [TTP]
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
    • H03L7/00—Automatic control of frequency or phase; Synchronisation
    • H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
    • H03L7/08—Details of the phase-locked loop
    • H03L7/0807—Details of the phase-locked loop concerning mainly a recovery circuit for the reference signal
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
    • H03L7/00—Automatic control of frequency or phase; Synchronisation
    • H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
    • H03L7/08—Details of the phase-locked loop
    • H03L7/085—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/02—Speed or phase control by the received code signals, the signals containing no special synchronisation information
    • H04L7/033—Speed or phase control by the received code signals, the signals containing no special synchronisation information using the transitions of the received signal to control the phase of the synchronising-signal-generating means, e.g. using a phase-locked loop
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/04—Speed or phase control by synchronisation signals
    • H04L7/08—Speed or phase control by synchronisation signals the synchronisation signals recurring cyclically

Definitions

  • the present invention relates to methods for synchronizing a plurality of bus systems, wherein each bus system has at least one transmitting unit and one receiving unit, and in each bus system to a receiving unit, synchronization signals transmitted cyclically by the transmitting unit are transmitted, as well as a hierarchical multi-bus system corresponding therewith.
  • Such synchronization methods for bus systems and the corresponding receiving units are generally known. They are used in fieldbus systems, e.g. PROFIBUS, or other bus systems such as Ethernet.
  • Fieldbus systems are distributed control systems that generally have a transmitter unit (head module, bus master) and a large number of receiver units (slaves). The control of the individual slave assemblies usually takes place in that the transmitting unit transmits a command telegram to the receiving units.
  • the receiving units When the command telegram is received, the receiving units output setpoints to a controlled technical system, which the transmitting unit previously transmitted to them. At the same time, they read actual values from the controlled technical system, which they then transmit to the transmitter unit.
  • the sending unit then calculates new setpoints, which it transmits to the individual receiving units, so that they are ready for the next command telegram.
  • the command telegrams are sent equidistant in time from the sending unit. Synchronization signals can therefore be derived from the command telegrams, by means of which the receiving units can be synchronized with the transmitting unit.
  • the realization of larger networked systems on the basis of such bus systems or field bus systems often results in the need to synchronize several separate bus systems. It is desirable to combine different bus systems with one another and thus to synchronize them.
  • Hierarchization of bus systems is of great importance, e.g. as part of a decentralized drive concept, where a controller, several drives and power units usually have to communicate with each other.
  • a controller for example machine tools and robots
  • drives and power units usually have to communicate with each other.
  • there is a requirement for continuous cycle synchronization if necessary also with different bus systems. The latter is particularly desirable to increase flexibility and range of use.
  • the object of the present invention is to provide a method for synchronizing a plurality of bus systems.
  • this object is achieved in that the method described at the outset is further developed in accordance with the preamble of the main claim, by specifying a, in particular common, central clock from each transmission unit of a bus system, from which each transmission unit autonomously the respective synchronization signals generated for cyclical transmission to an assigned receiving unit.
  • Such a synchronization of two or more transmission units or bus masters with one another enables, among other things, parallel operation of buses.
  • the transmission units are fed by a central clock. According to the predetermined clock, each transmission unit generates the corresponding synchronization information using the required telegrams on the respective bus.
  • This principle is independent of the respective bus system, so that both the same bus systems and different bus systems can be operated synchronously with each other.
  • a receiving unit of a bus system feeds the synchronization signals to the phase controller of a phase-locked loop with a clock generator, the phase controller determining current phase errors when the synchronization signals are received and readjusting the clock generator in such a way that the clock generator outputs a set number of clock signals between two synchronization signals (cf. DE 19932635.5, the disclosure of which is hereby incorporated by reference).
  • the target number of clock signals generated via the phase-locked loop mentioned is specified as a central clock for all transmission units of the bus systems. If this target number of clock signals of a transmission unit of another bus system is specified as the central clock, a * hierarchization of bus systems can be achieved in a particularly simple and effective manner.
  • a receiving unit on a bus receives the synchronization information.
  • This clock information is filtered using a phase-locked loop and missing clocks are regenerated (e.g. due to telegram destruction on the bus).
  • This now "clean" clock is in turn led to a transmission unit or a bus master of another bus, which generates the corresponding clock information by means of the required telegrams on the respective bus.
  • This principle is in turn independent of the respective bus system, so that both several identical buses or different bus systems can also be operated hierarchically in synchronism with each other.
  • the phase controller integrate the current phase errors into an integration value and that the integration value be corrected to an integration fraction, the integration fraction being less than one.
  • frequency multiplication is carried out before the control of a transmission unit with a central clock, in particular within the phase-locked loop.
  • a plurality of phase-locked loops of a plurality of bus systems are accordingly advantageously cascaded.
  • the frequency response of each phase-locked loop has a gain of less than or equal to one.
  • FIG. 1 shows a block diagram of a distributed control system
  • FIG. 2 shows a block diagram of two synchronized bus systems for representing the topological conditions
  • FIG. 3 shows a block diagram of a phase-locked loop
  • FIG. 4 shows a time diagram of the running time compensation.
  • a distributed control system has a transmitter unit 1 and receiver units 2, which are connected via a bus system
  • the sending unit 1 cyclically sends telegrams to the receiving units 2, which react accordingly to the received telegrams.
  • the receiving units 2 read 4 input variables from a controlled technical system or application and output variables to the technical system or application
  • the communication between the sending unit 1 and the receiving units 2 generally takes place according to the following, cyclically processed scheme:
  • the transmitting unit 1 transmits output variables to the receiving units 2, which are to be output to the technical system / application 4. Then it transmits a command telegram to the receiving units 2.
  • the receiving units 2 output the output variables to the technical system 4 and read input variables from the technical system 4. The input variables read are then queried by the transmission unit 1.
  • the above scheme is processed strictly cyclically "and strictly equidistant in time.
  • the command telegrams can therefore be used as synchronization signals S or synchronization signals S can be derived from the command telegrams.
  • the reception units 2 with the transmitter unit can then be identified by means of the synchronization signals S. 1 synchronize.
  • Bus 3 shows a connected receiving unit / slave 2, which receives synchronization signals S from a bus unit 3 (not shown) from the bus 3, a transmission unit / bus master 1 'is shown for the second bus 3', which synchronization signals S 'to the second Bus 3 'sends.
  • a transmission unit / bus master 1 ′′ does the same for the third bus 3 ′′.
  • the transmitter units / bus master 1 'and 1' 'from bus 3' and 3 '' are now synchronized with the clock of the receiver unit / slave 2 from bus 3.
  • a central clock Z * is generated from the synchronization signal S via a phase-locked loop 6, with which both bus systems 3 'and 3' 'are applied.
  • This central clock Z * can be used directly or via optional respective frequency dividers 15 ', 15' 'to control the respective transmitter units / bus masters 1', 1 '' of the bus systems 3 ', 3' '.
  • the frequency dividers 15 ', 15' 'can have different division ratios n', n '', so that the two buses 3 ', 3' 'can also be operated synchronously with different bus period durations.
  • frequency multiplication (n ', n' '> 1) can also be used, which can be generated above all via the phase-locked loop (PLL) to be explained below. It is also possible to feed higher-frequency clocks into the respective downstream transmission unit / bus master.
  • the synchronization signals received by a receiving unit / slave 2 are transferred to a phase controller 5 of a phase-locked loop via a bus connection module ⁇ ⁇ > t * c ⁇ o Cn o cn O c ⁇
  • the control unit 11 calculates a correction value for the control of the clock generator 8 and gives this correction value directly to the phase controller 5.
  • the instantaneous phase error E detected in the first synchronization cycle is at least substantially corrected.
  • the primary clock counter 13 is always controlled as a function of the synchronization signal S and when the target number Z * is reached.
  • the primary clock counter 13 is started and stops when the second of these two signals arrives.
  • the counter reading of the primary clock counter 13 is fed to a comparator 14.
  • the count of the primary clock counter 13 is compared in terms of amount with a maximum error. If the counter reading exceeds the maximum error, a time counter 15 is counted up. In this case, no error signal is output to the phase controller 5. The phase controller 5 maintains its previous output signal.
  • the primary clock counter 13 is started or stopped each time a synchronization signal S is transmitted.
  • the primary clock counter 13 is only started and stopped when the valid signal G is present. It is also possible to start and evaluate the primary clock counter 13 offset by a phase shift with respect to the synchronization signal S. The latter is advantageous liability with regard to the compensation of runtime effects described above (see also FIG. 4).
  • FIG. 2 it is in principle also possible to operate the two bus systems 3 ′, 3 ′′ in parallel without hierarchizing, by rigid output clock signal generation being carried out without synchronization to a bus receiving unit 2.
  • the PLL 6 then functions as an autonomous clock generator for generating a common central clock Z *.
  • a received clock telegram S is shown, which is completely received at the clock instant t.
  • the clock telegram can only be decoded at this time. So that

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)
  • Information Transfer Systems (AREA)
  • Hardware Redundancy (AREA)

Abstract

Selon la présente invention, la synchronisation d'un maître de bus sur un esclave de bus permet d'obtenir la hiérarchisation souhaitée de bus, en ce qu'un esclave de bus (2) sur un bus (3) reçoit les informations de synchronisation (S) d'un maître de bus associé. Une boucle à verrouillage de phase (phase locked loop : PLL) (6) permet de filtrer ces informations de cadence et des cadences manquantes sont régénérées. Cette cadence alors « propre » (Z*) est conduite à un ou plusieurs maîtres de bus parallèles (1', 1'') d'autres bus (3', 3'') qui génèrent les informations de cadence correspondantes (S', S'') au moyen des messages nécessaires sur chaque bus. Ce principe ne dépend pas de chaque système de bus, ce qui permet de pouvoir exploiter aussi bien plusieurs bus identiques que plusieurs systèmes de bus différents, de manière hiérarchiquement synchrone les uns par rapport aux autres.
PCT/DE2001/003578 2000-09-28 2001-09-17 Procede pour synchroniser plusieurs systemes de bus et systeme de bus hierarchique correspondant WO2002028003A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE50109395T DE50109395D1 (de) 2000-09-28 2001-09-17 Verfahren zur synchronisierung einer mehrzahl von bussystemen und hiermit korrespondierendes hierarchisches mehrbussystem
EP01978146A EP1346505B1 (fr) 2000-09-28 2001-09-17 Procede pour synchroniser plusieurs systemes de bus et systeme de bus hierarchique correspondant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10048191.4 2000-09-28
DE10048191A DE10048191A1 (de) 2000-09-28 2000-09-28 Verfahren zur Synchronisierung einer Mehrzahl von Bussystemen und hiermit korrespondierendes hierarchisches Mehrbussystem

Publications (2)

Publication Number Publication Date
WO2002028003A2 true WO2002028003A2 (fr) 2002-04-04
WO2002028003A3 WO2002028003A3 (fr) 2003-07-17

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PCT/DE2001/003578 WO2002028003A2 (fr) 2000-09-28 2001-09-17 Procede pour synchroniser plusieurs systemes de bus et systeme de bus hierarchique correspondant

Country Status (5)

Country Link
US (1) US7061940B2 (fr)
EP (1) EP1346505B1 (fr)
CN (1) CN1279709C (fr)
DE (2) DE10048191A1 (fr)
WO (1) WO2002028003A2 (fr)

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DE10023820B4 (de) * 2000-05-15 2006-10-19 Siemens Ag Software-Schutzmechanismus
DE102004004843B4 (de) * 2004-01-30 2010-07-22 Siemens Ag Bussystem zur Steuerung einer Komponente einer Druckmaschine und entsprechendes Verfahren
US7058089B2 (en) * 2004-02-18 2006-06-06 Rosemount, Inc. System and method for maintaining a common sense of time on a network segment
US7234084B2 (en) 2004-02-18 2007-06-19 Emerson Process Management System and method for associating a DLPDU received by an interface chip with a data measurement made by an external circuit
DE102004052175A1 (de) 2004-10-27 2006-05-04 Dr. Johannes Heidenhain Gmbh Modulares numerisches Steuergerät mit Low-Jitter Synchronisation
DE102004062683A1 (de) * 2004-12-21 2006-06-29 Bosch Rexroth Aktiengesellschaft Verfahren zur Regelung einer Übertragung mit kurzen Datentelegrammen
US7886085B2 (en) * 2006-04-05 2011-02-08 Panasonic Corporation Removable memory device, phase synchronizing method, phase synchronizing program, medium recording the same, and host terminal
EP1860520A1 (fr) * 2006-05-22 2007-11-28 Siemens Aktiengesellschaft Synchronisation de générateur de cadence et d'horloge entre les composants de systèmes de bus
CN103500150A (zh) * 2013-09-24 2014-01-08 许继集团有限公司 多处理器并行处理应用的总线架构
CN111124978B (zh) * 2019-10-30 2021-07-06 苏州浪潮智能科技有限公司 一种并行总线相位校正的方法及装置

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US4503490A (en) * 1981-06-10 1985-03-05 At&T Bell Laboratories Distributed timing system
US5988846A (en) * 1996-07-01 1999-11-23 Asea Brown Boveri Ag Method of operating a drive system and device for carrying out the method
DE19932635A1 (de) * 1999-02-15 2000-08-17 Siemens Ag Synchronisierverfahren für eine Empfangseinheit und hiermit korrespondierende Empfangseinheit

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US5680394A (en) * 1995-07-11 1997-10-21 Amati Communications Corporation Time division duplexed high speed data transmission system and method
FI971718A (fi) * 1997-04-22 1998-10-23 Nokia Telecommunications Oy Korttipaikkojen lisääminen suurikapasiteettiseen väylään
DE19818325A1 (de) * 1998-04-23 1999-10-28 Siemens Ag Verfahren zum Betreiben eines Funk-Kommunikationssystems
DE19830130B4 (de) * 1998-07-06 2007-01-18 Robert Bosch Gmbh Schaltungsanordnung für eine PLL-Schaltung (Phase-locked-Loop) zur Frequenzvervielfachung
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Publication number Priority date Publication date Assignee Title
US4503490A (en) * 1981-06-10 1985-03-05 At&T Bell Laboratories Distributed timing system
US5988846A (en) * 1996-07-01 1999-11-23 Asea Brown Boveri Ag Method of operating a drive system and device for carrying out the method
DE19932635A1 (de) * 1999-02-15 2000-08-17 Siemens Ag Synchronisierverfahren für eine Empfangseinheit und hiermit korrespondierende Empfangseinheit

Also Published As

Publication number Publication date
DE10048191A1 (de) 2002-04-25
CN1279709C (zh) 2006-10-11
EP1346505B1 (fr) 2006-03-29
US7061940B2 (en) 2006-06-13
EP1346505A2 (fr) 2003-09-24
WO2002028003A3 (fr) 2003-07-17
DE50109395D1 (de) 2006-05-18
CN1478339A (zh) 2004-02-25
US20020037017A1 (en) 2002-03-28

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